Compas-fab

Added

Changed

* Raise `BackendFeatureNotSupportedError` exceptions when a features is not supported by the planner, instead of generic `Exception`.

Removed

Added

Changed

Removed

Added

* Add parameter to control which link the tool is connected to in Grasshopper.

Changed

* Changed `CollisionMesh` inherit from `compas.data.Data`
* Changed `AttachedCollisionMesh` to inherit from `compas.data.Data`
* Changed `Robot` inherit from `compas.data.Data`
* Changed `RobotSemantics` inherit from `compas.data.Data`
* Changed `Tool` to inherit from `compas.data.Data`
* Renamed `Tool.link_name` to `Tool.connected_to`
* Migrate to COMPAS 2.x: add dependency to `compas_robots`
* Migrate to COMPAS 2.x: use `compas.tolerance` module instead of `compas.PRECISION`
* Add `attributes` to `Trajectory` class.
* Fixed `data` serialization API to comply with `COMPAS 2.0` private data API.
* Use the tool's `connected_to` link when showing end-effector frames in Grasshopper.

Removed

* Removed V-Rep backend.
* Removed outdated `PathPlan` class.
* Removed outdated rfl demo class.
* Remove deprecated aliases for artists (currently on `compas_robots`).

Added

* Added `Forward Kinematics` GH component.

Changed

* Updated install process of GH components.
* Added caching to the GH component that visualizes scene, to avoid retrieving the whole scene too often.

Fixed

* Fixed pre-Noetic support on the MoveIt planner when a tool is attached to the robot.

Added

* Added support for attached and non-attached collision mesh visualization to the `Robot Visualize` GH component.
* Added a prefix to all GH components.
* Added `append` to the operations of the `Collision Mesh` GH component.

Changed

* Changed behavior of `Attach Tool` GH component to only attach the tool but not add it to the planning scene state.
* Duration class takes floats as `sec` variable.
* Changed the behavior of `forward_kinematics`, `inverse_kinematics`, `iter_inverse_kinematics`, `plan_cartesian_motion` and constraints construction methods (`orientation_constraint_from_frame`, `position_constraint_from_frame`, `constraints_from_frame`) in `Robot` class to use the frame of the attached tool if a tool is attached. This behavior can be reverted back (ie. only calculate T0CF) using the flag `use_attached_tool_frame` of all these methods.
* Fixed usage of `tangent_points_to_circle_xy` in Spherical Wrist solver to work with COMPAS v1.16 and older.

Fixed

* Fixed DH params for analytical IK solver of UR3e and UR10e.
* Fixed Kinetic support on IK, FK, and motion planning calls.
* Fixed `Publish to topic` Grasshopper component when the `ros_client` has been replaced (eg. disconnected and reconnected).

Deprecated

Removed

Added

* Added a new GH component - `ConstraintsFromTargetConfiguration`
* Added some missing information to GH and V-REP docs.
* Added a `Robot().attached_tools` property to allow attaching tools to multiple planning groups simultaneously.

Changed

* Replaced icon for GH component - `ConstraintsFromPlane`
* `Robot().attached_tool` now points to the tool attached to the `robot.main_group_name`.
* Added parameter `group` to the `AttachToolComponent`

Fixed

* Attaching a tool to a planning group doesn't overwrite the tool attached to other groups.
* Changed `Trajectory` to inherit from `compas.data.Data` class to fix a serialization error that expects guid to be present.

Deprecated

Removed